so101_coffee_subtask

431 teleoperated SO-101 demonstrations of a coffee-making routine, recorded as 12 separately instructed steps, each captured with two cup variants — a red cup and a white one.

Every step is a short, self-contained manipulation with its own natural-language instruction, so the set can be used either as 24 single-skill datasets or as one long-horizon routine.

This dataset was created using LeRobot.

Overview

Episodes / frames	431 / 99,472 (0.92 h)
Composition	12 steps × 2 cup colours = 24 contiguous blocks
Episode length	mean 231 frames (7.7 s), median 223, range 135–434
Distinct instructions	10
Robot	so_follower, 6-DoF — shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
Cameras	observation.images.front, observation.images.wrist — 640×480, av1
fps	30
Format	LeRobotDataset v3.0

Trajectories

End-effector (pinch-point) paths of every episode, obtained by forward kinematics from the recorded joint states. Top panel is a top-down X–Y view with the table, the two coffee machines and the two circular markers drawn in; bottom panel is the side X–Z view. The robot base is at the origin (▲). Red lines are red-cup episodes, blue lines white-cup ones.

Three steps to a row — the full 12-step routine in order:

Steps 1–3 — pick up the cup on the blue circle → place the cup to the left coffee machine → press the blue button of the left coffee machine

Steps 4–6 — pick up the cup on the blue circle → place the cup to the right coffee machine → press the blue button of the right coffee machine

Steps 7–9 — pick up the cup on the left coffee machine → place the cup to the left pink circle → pick up the cup on the right coffee machine

Steps 10–12 — place the cup to the left pink circle → pick up the cup near the blue circle → place the cup on the blue circle

All four 3-step rows are in viz/.

Trajectory video

▶ Watch on YouTube (4K): https://youtu.be/ey8GLF_dZ2I

Episode ranges

The cup colour is not part of the instruction string, so this table is what maps an episode to its step and cup. Every combination is one contiguous block of episode_index:

episode_index	Step	Cup	Episodes	Frames	Instruction
0–19	1	red	20	6,058	pick up the cup on the blue circle
20–39	1	white	20	5,204	pick up the cup on the blue circle
40–59	2	red	20	5,652	place the cup to the left coffee machine
60–79	2	white	20	4,883	place the cup to the left coffee machine
80–99	3	red	20	5,231	press the blue button of the left coffee machine
100–119	3	white	20	4,838	press the blue button of the left coffee machine
120–139	4	red	20	4,323	pick up the cup on the blue circle
140–159	4	white	20	4,093	pick up the cup on the blue circle
160–175	5	red	16	2,886	place the cup to the right coffee machine
176–192	5	white	17	3,461	place the cup to the right coffee machine
193–209	6	red	17	3,859	press the blue button of the right coffee machine
210–226	6	white	17	3,989	press the blue button of the right coffee machine
227–243	7	red	17	4,020	pick up the cup on the left coffee machine
244–260	7	white	17	3,638	pick up the cup on the left coffee machine
261–277	8	red	17	4,171	place the cup to the left pink circle
278–294	8	white	17	4,133	place the cup to the left pink circle
295–311	9	red	17	4,022	pick up the cup on the right coffee machine
312–328	9	white	17	3,490	pick up the cup on the right coffee machine
329–345	10	red	17	3,920	place the cup to the left pink circle
346–363	10	white	18	3,999	place the cup to the left pink circle
364–380	11	red	17	3,488	pick up the cup near the blue circle
381–397	11	white	17	3,576	pick up the cup near the blue circle
398–413	12	red	16	3,058	place the cup on the blue circle
414–430	12	white	17	3,480	place the cup on the blue circle
			431	99,472

from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds       = LeRobotDataset("nevertmr/so101_coffee_subtask")
step3_red = LeRobotDataset("nevertmr/so101_coffee_subtask", episodes=list(range(80, 100)))

Steps and instructions

Steps 1 and 4 / 8 and 10 reuse an instruction: the routine makes two cups, so two of the instructions occur at two different points in the sequence. task_index is the index of the instruction, not of the step — there are 12 steps but 10 distinct instructions.

Step	task_index	Instruction	Episodes	Frames
1	0	pick up the cup on the blue circle	40	11,262
2	1	place the cup to the left coffee machine	40	10,535
3	2	press the blue button of the left coffee machine	40	10,069
4	0	pick up the cup on the blue circle (same as step 1)	40	8,416
5	3	place the cup to the right coffee machine	33	6,347
6	4	press the blue button of the right coffee machine	34	7,848
7	5	pick up the cup on the left coffee machine	34	7,658
8	6	place the cup to the left pink circle	34	8,304
9	7	pick up the cup on the right coffee machine	34	7,512
10	6	place the cup to the left pink circle (same as step 8)	35	7,919
11	8	pick up the cup near the blue circle	34	7,064
12	9	place the cup on the blue circle	33	6,538